From 0495c3946cb7a99000a410c07de723fbefec9b21 Mon Sep 17 00:00:00 2001
From: Vlad <satogob75@gmail.com>
Date: Mon, 20 Apr 2026 01:02:49 +0600
Subject: [PATCH] path forest loc

---
 resources/config2/navigation2.json | 338 +++++++++++++++++------------
 1 file changed, 200 insertions(+), 138 deletions(-)

diff --git a/resources/config2/navigation2.json b/resources/config2/navigation2.json
index 9475494..8c0bbe3 100644
--- a/resources/config2/navigation2.json
+++ b/resources/config2/navigation2.json
@@ -1,140 +1,202 @@
 {
-    "cellSize": 0.4,
-    "agentRadius": 0.45,
-    "floorY": 0.0,
-    "objectPadding": 0.25,
-    "areas": [
+  "cellSize": 0.4,
+  "agentRadius": 0.45,
+  "floorY": 0.0,
+  "objectPadding": 0.25,
+  "areas": [
+    {
+      "name": "main_corridor",
+      "available": true,
+      "polygon": [
+        [-32, 15],
+        [-2, 15],
+        [-2, 2.35],
+        [-32, 2.35]
+      ]
+    },
+    {
+      "name": "main_corridor1",
+      "available": true,
+      "polygon": [
+        [-2, 3.2],
+        [-14.1, 3.2],
+        [-14.1, -25],
+        [-2, -25]
+      ]
+    },
+    {
+      "name": "main_corridor2",
+      "available": true,
+      "polygon": [
+      [-32, 5],
+      [-26.9, 5],
+      [-26.9, -25],
+      [-32, -25]
+      ]
+    },
+    {
+      "name": "main_corridor3",
+      "available": true,
+      "polygon": [
+      [-32, -5.5],
+      [-7.3, -5.5],
+      [-7.3, -8.6],
+      [-32, -8.6]
+      ]
+    },
+    {
+      "name": "main_corridor4",
+      "available": true,
+      "polygon": [
+      [-32, -25],
+      [-25.7, -25],
+      [-25.7, -8.6],
+      [-32, -8.6]
+      ]
+    },
+    {
+      "name": "main_corridor5",
+      "available": true,
+      "polygon": [
+      [-2, -25],
+      [-14.89, -25],
+      [-14.89, -8.6],
+      [-2, -8.6]
+      ]
+    },
+    {
+      "name": "main_corridor6",
+      "available": true,
+      "polygon": [
+        [-2, -25],
+        [-32, -25],
+        [-32, -13.5],
+        [-2, -13.5]
+      ]
+    },
+    {
+      "name": "main_corridor7",
+      "available": true,
+      "polygon": [
+      [-16.9, -25],
+      [-24, -25],
+      [-24, -8.5],
+      [-16.9, -8.5]
+      ]
+    },
+    {
+      "name": "main_corridor8",
+      "available": true,
+      "polygon": [
+        [-26.1, 1.5],
+        [-14.9, 1.5],
+        [-14.9, -4.8],
+        [-26.1, -4.8]
+      ]
+    },
+    {
+      "name": "main_corridor9",
+      "available": true,
+      "polygon": [
+        [-14, -1.2],
+        [-16, -1.2],
+        [-16, 0],
+        [-14, 0]
+      ]
+    },
       {
-        "name": "main_corridor",
-        "available": true,
-        "polygon": [
-          [-15, 15],
-          [15, 15],
-          [15, 2.2],
-          [-15, 2.2]
-        ]
-      },
-      {
-        "name": "main_corridor1",
-        "available": true,
-        "polygon": [
-          [15, 2.2],
-          [2.9, 2.2],
-          [2.9, -25],
-          [15, -25]
-        ]
-      },
-      {
-        "name": "main_corridor2",
-        "available": true,
-        "polygon": [
-          [-15, 5],
-          [-9.9, 5],
-          [-9.9, -25],
-          [-15, -25]
-        ]
-      },
-      {
-        "name": "main_corridor3",
-        "available": true,
-        "polygon": [
-          [-15, -5.5],
-          [9.7, -5.5],
-          [9.7, -8.6],
-          [-15, -8.6]
-        ]
-      },
-      {
-        "name": "main_corridor4",
-        "available": true,
-        "polygon": [
-          [-15, -25],
-          [-8.7, -25],
-          [-8.7, -8.6],
-          [-15, -8.6]
-        ]
-      },
-      {
-        "name": "main_corridor5",
-        "available": true,
-        "polygon": [
-          [15, -25],
-          [2.11, -25],
-          [2.11, -8.6],
-          [15, -8.6]
-        ]
-      },
-      {
-        "name": "main_corridor6",
-        "available": true,
-        "polygon": [
-          [15, -25],
-          [-15, -25],
-          [-15, -13.5],
-          [15, -13.5]
-        ]
-      },
-      {
-        "name": "main_corridor7",
-        "available": true,
-        "polygon": [
-          [0.1, -25],
-          [-7, -25],
-          [-7, -8.5],
-          [0.1, -8.5]
-        ]
-      },
-      {
-        "name": "main_corridor8",
-        "available": true,
-        "polygon": [
-          [-9.3, 1.7],
-          [2.5, 1.7],
-          [2.5, -5],
-          [-9.3, -5]
-        ]
-      },
-      {
-        "name": "main_corridor9",
-        "available": true,
-        "polygon": [
-          [3, -1.2],
-          [1, -1.2],
-          [1, 0],
-          [3, 0]
-        ]
-      },
-        {
-        "name": "main_corridor10",
-        "available": true,
-        "polygon": [
-          [-0.2, -3],
-          [1, -3],
-          [1, -5.5],
-          [-0.2, -5.5]
-        ]
-      },
-        {
-        "name": "main_corridor10x",
-        "available": true,
-        "polygon": [
-          [-400, -400],
-          [400, -400],
-          [400, 400],
-          [-400, 400]
-        ]
-      },
-      {
-        "name": "main_corridor",
-        "available": true,
-        "forbidden": false,
-        "polygon": [
-            [-15, 15],
-            [15, 15],
-            [15, 2.2],
-            [-15, 2.2]
-        ]
-      }
-    ]
-  }
-  
\ No newline at end of file
+      "name": "main_corridor10",
+      "available": true,
+      "polygon": [
+        [-17.2, -3],
+        [-16, -3],
+        [-16, -5.5],
+        [-17.2, -5.5]
+      ]
+    },
+    {
+      "name": "extension_left",
+      "available": true,
+      "polygon": [
+        [-400, -400],
+        [-32, -400],
+        [-32, 400],
+        [-400, 400]
+      ]
+    },
+    {
+      "name": "extension_right",
+      "available": true,
+      "polygon": [
+        [-2, -400],
+        [400, -400],
+        [400, 400],
+        [-2, 400]
+      ]
+    },
+    {
+      "name": "extension_bottom",
+      "available": true,
+      "polygon": [
+        [-32, -400],
+        [-2, -400],
+        [-2, -25],
+        [-32, -25]
+      ]
+    },
+    {
+      "name": "extension_top",
+      "available": true,
+      "polygon": [
+        [-32, 15],
+        [-2, 15],
+        [-2, 400],
+        [-32, 400]
+      ]
+    },
+    {
+      "name": "cor",
+      "available": true,
+      "forbidden": true,
+      "polygon": [
+        [-26.1, 1.5],
+        [-17.2, 1.5],
+        [-17.2, 0.5],
+        [-26.1, 0.5]
+      ]
+    },
+    {
+      "name": "main_cor2",
+      "available": true,
+      "forbidden": true,
+      "polygon": [
+        [-22.18, -1.2],
+        [-17.2, -1.2],
+        [-17.2, -2.8],
+        [-22.18, -2.8]
+      ]
+    },
+    {
+      "name": "main_cor3",
+      "available": true,
+      "forbidden": true,
+      "polygon": [
+        [-25.69, -2.6],
+        [-22.5, -2.6],
+        [-22.5, -3.8],
+        [-25.69, -3.8]
+      ]
+    },
+    {
+      "name": "main_cor4",
+      "available": true,
+      "forbidden": true,
+      "polygon": [
+        [-23.6, -2.9],
+        [-22.2, -2.9],
+        [-22.2, -4.8],
+        [-23.6, -4.8]
+      ]
+    }
+  ]
+}
\ No newline at end of file